Exploitation of state-coupling, disturbance, and nonlinearities for suspension system control

Abstract

One or more systems, methods and/or non-transitory, machine-readable mediums are described herein for controlling a suspension system. An active suspension control system can comprise a memory that stores executable components, and a processor, coupled to the memory, that executes or facilitates execution of the executable components comprising a dynamics model generator that generates a bioinspired dynamics model and determines nonlinear dynamics for nonlinear suppression of vibration of an active suspension system, a fuzzy disturbance observer component that determines a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system, and a controller that applies respective outputs of the dynamics model generator and the fuzzy disturbance observer component, in combination with a non-cancelled state-coupling term, to control the active suspension system to thereby cause the nonlinear suppression of the vibration of the active suspension system.

What is claimed is: 
     
       1. An active suspension control system, comprising:
 at least one memory that stores executable components; and 
 at least one processor, coupled to the at least one memory, that executes or facilitates execution of the executable components, the executable components comprising:
 a dynamics model generator that generates a bioinspired dynamics model and determines nonlinear dynamics for nonlinear suppression of vibration of an active suspension system; 
 a fuzzy disturbance observer component that determines a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system; 
 a state-coupling effect indicator component that analyzes a state-coupling effect of the active suspension system by relating amplitude and directionality of disturbances to the active suspension system to a tracking control cooperating with the active suspension system; and 
 a controller that applies respective outputs of the dynamics model generator and the fuzzy disturbance observer component, in combination with a non-cancelled state-coupling term, to control the active suspension system to thereby cause the nonlinear suppression of the vibration of the active suspension system. 
 
 
     
     
       2. The system of  claim 1 , wherein the dynamics model generator outputs nonlinear stiffness and damping properties for application by the controller to use for the nonlinear suppression of the vibration of the active suspension system. 
     
     
       3. The system of  claim 1 , wherein the dynamics model generator employs the bioinspired dynamics model by maintaining displacement of sprung and unsprung masses of the active suspension system within defined thresholds. 
     
     
       4. The system of  claim 1 , wherein the physical parameters comprise sprung and unsprung masses, stiffness coefficients and damping coefficients. 
     
     
       5. The system of  claim 1 , wherein the fuzzy disturbance observer component determines the lumped disturbance based on a positive control gain and a calculated disturbance observation error, and by applying a reconstruction error to an estimated lumped disturbance determined by the fuzzy disturbance observer component. 
     
     
       6. The system of  claim 1 , wherein the state-coupling effect indicator component determines the non-cancelled state-coupling term at least partially based on whether a resultant state-coupling effect of the active suspension system is able to be employed to steer a Lyapunov function to move to a respective origin. 
     
     
       7. The system of  claim 1 , wherein the output of the dynamics model generator is applied as an ideal output tracking trajectory of the active suspension system by the controller, and wherein application of the output avoids elimination of at least one nonlinearity of the active suspension system. 
     
     
       8. A non-transitory machine-readable medium, comprising executable instructions that, when executed by a processor facilitate performance of operations, comprising:
 employing nonlinear dynamics for nonlinearly suppressing vibration of an active suspension system and to generate an ideal output tracking trajectory of the active suspension system; 
 generating both disturbance and state-coupling effect indicators for the active suspension system; 
 relating the disturbance and state-coupling effect indicators to one or more effects of the disturbance and state-coupling effect indicators on the active suspension system, where the disturbance and state-coupling effect indicators have not been eliminated via control of the active suspension system; and 
 controlling the active suspension system based on the nonlinear dynamics and based on the disturbance and state-coupling effect indicators. 
 
     
     
       9. The non-transitory machine-readable medium of  claim 8 , wherein the operations further comprise:
 eliminating one or more of the disturbance and state-coupling effect indicators via one or more introduced binary trigger conditions. 
 
     
     
       10. The non-transitory machine-readable medium of  claim 8 ,
 wherein the employing of the nonlinear dynamics for the nonlinearly suppressing of the vibration of the active suspension system to generate the ideal output tracking trajectory of the active suspension system avoids elimination of at least one nonlinearity of the active suspension system. 
 
     
     
       11. The non-transitory machine-readable medium of  claim 8 , wherein the operations further comprise:
 determining a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system. 
 
     
     
       12. The non-transitory machine-readable medium of  claim 11 , wherein the operations further comprise:
 determining the lumped disturbance based on a positive control gain and a calculated disturbance observation error, and by applying a reconstruction error to an estimated lumped disturbance. 
 
     
     
       13. The non-transitory machine-readable medium of  claim 8 , wherein the operations further comprise:
 analyzing a state-coupling effect of the active suspension system by relating amplitude and directionality of disturbances to the active suspension system to a tracking control cooperating with the active suspension system. 
 
     
     
       14. A method, comprising:
 employing, by a system comprising a processor, nonlinear dynamics usable to nonlinearly suppress vibration of an active suspension system; 
 analyzing, by the system, a state-coupling effect of the active suspension system by relating amplitude and directionality, of disturbances to the active suspension system, to a tracking control cooperating with the active suspension system; and 
 controlling, by the system, the active suspension system to thereby suppress the vibration of the active suspension system, based on the nonlinear dynamics and a non-cancelled state-coupling term that is output from the state-coupling effect analysis. 
 
     
     
       15. The method of  claim 14 , further comprising:
 as part of the analyzing of the state-coupling effect, generating, by the system, disturbance indicators and state-coupling effect indicators for the active suspension system. 
 
     
     
       16. The method of  claim 14 , further comprising:
 determining, by the system, a lumped disturbance to the active suspension system by employing fuzzy variables absent determination of exact physical parameters of the active suspension system, wherein the physical parameters comprise one or more of sprung and unsprung masses, stiffness coefficients and damping coefficients. 
 
     
     
       17. The method of  claim 14 , further comprising:
 determining, by the system, the non-cancelled state-coupling term of the active suspension system at least partially based on whether a resultant state-coupling effect of the active suspension system is employable to steer a Lyapunov function to move to a respective origin. 
 
     
     
       18. The method of  claim 14 , further comprising:
 generating, by the system, an ideal output tracking trajectory of the active suspension system; and 
 applying, by the system, the ideal output tracking trajectory of the active suspension system by the tracking control, thereby avoiding elimination of at least one nonlinearity of the active suspension system. 
 
     
     
       19. The method of  claim 14 , further comprising:
 adjusting, by the system, the controlling of the active suspension system based on user input received via a user interface in response to a suppression of the vibration of the active suspension system. 
 
     
     
       20. The method of  claim 15 , further comprising:
 relating, by the system, the disturbance indicators and the state-coupling effect indicators to one or more effects of the disturbance indicators and the state-coupling effect indicators on the active suspension system, wherein the disturbance indicators and the state-coupling effect indicators have not been eliminated via control of the active suspension system.